基于无迹卡尔曼滤波的超空泡航行体最优控制研究

doi:10.3969/j.issn.1000-1093.2019.06.014

兵工学报 ›› 2019, Vol. 40 ›› Issue (6): 1235-1243.doi: 10.3969/j.issn.1000-1093.2019.06.014

基于无迹卡尔曼滤波的超空泡航行体最优控制研究

张成举，王聪，曹伟，王金强

(哈尔滨工业大学航天学院, 黑龙江哈尔滨 150001)

收稿日期:2018-08-01 修回日期:2018-08-01 上线日期:2019-08-14
作者简介:张成举(1993—)，男，博士研究生。 E-mail: cjzhang0516@hotmail.com
基金资助:
国家自然科学基金项目（11672094）

Optimal Control of Supercavitating Vehicles Based on Unscented Kalman Filter

ZHANG Chengju，WANG Cong， CAO Wei， WANG Jinqiang

(School of Astronautics, Harbin Institute of Technology, Harbin 150001, Heilongjiang, China）

Received:2018-08-01 Revised:2018-08-01 Online:2019-08-14

摘要/Abstract

摘要： 针对超空泡航行体运动过程中环境噪声和测量噪声带来的不利影响，提出一种基于无迹卡尔曼滤波器（UKF）的最优控制算法。通过超空泡航行体动力学建模，建立含有环境噪声和测量噪声的状态方程，分别在无滤波器和含有UKF情况下的最优控制器进行了仿真分析。研究结果表明：在环境噪声和测量噪声干扰下，超空泡航行体跟踪误差较大，运动极其不稳定，处于失稳状态；在UKF作用下，超空泡航行体跟踪误差明显减小，在较短时间内达到全包裹状态，有较好的信号处理效果。

关键词: 超空泡航行体, 无迹卡尔曼滤波, 最优控制, 噪声, 跟踪

Abstract: An optimal control method based on unscented Kalman filter is proposed to solve the adverse effects due to environmental and measurement noises. Based on dynamic model of supercavitating vehicle, the environmental and measurement noises are added to the equation of state. An optimal controller without filter and with unscented Kalman filter was simulated and analyzed. Simulated results show that the tracking error of supercavitating vehicle is large，and its movement is extremely unstable under the disturbance of environmental and measurement noises. Under the action of the unscented Kalman filter, the tracking error of supercavitating vehicle is reduced significantly and the supercavitating vehicle reaches a full package state in a short period of time. It has better signal processing results. Key

Key words: supercavitatingvehicle, unscentedKalmanfilter, optimalcontrol, noise, track

中图分类号:

TJ630.1

张成举，王聪，曹伟，王金强. 基于无迹卡尔曼滤波的超空泡航行体最优控制研究[J]. 兵工学报, 2019, 40(6): 1235-1243.

ZHANG Chengju，WANG Cong， CAO Wei， WANG Jinqiang. Optimal Control of Supercavitating Vehicles Based on Unscented Kalman Filter[J]. Acta Armamentarii, 2019, 40(6): 1235-1243.

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基于无迹卡尔曼滤波的超空泡航行体最优控制研究

Optimal Control of Supercavitating Vehicles Based on Unscented Kalman Filter

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